O. Bau, I. Poupyrev, A. Israr, and C. Harrison, TeslaTouch: electrovibration for touch surfaces, Proceedings of the 23nd annual ACM symposium on User interface software and technology, pp.283-292, 2010.

K. A. Kaczmarek, K. Nammi, A. K. Agarwal, M. E. Tyler, and S. J. ,

D. J. Haase and . Beebe, Polarity effect in electrovibration for tactile display, IEEE Trans. Biomed. Eng, vol.53, issue.10, pp.2047-2054, 2006.

T. Watanabe and S. Fukui, A method for controlling tactile sensation of surface roughness using ultrasonic vibration, IEEE International Conference on Robotics and Automation, vol.1, pp.1134-1139, 1995.

C. Winter, Y. Civet, and Y. Perriard, Optimal design of a squeeze film actuator for friction feedback, Electric Machines Drives Conference (IEMDC), pp.1466-1470, 2013.

M. Biet, F. Giraud, and B. Lemaire-semail, Implementation of tactile feedback by modifying the perceived friction, Eur. Phys. J.-Appl. Phys, vol.43, issue.01, pp.123-135, 2008.

R. J. Merry, J. L. Holierhoek, M. J. Van-de-molengraft, and M. Steinbuch, Gain Scheduling Control of a Walking Piezo Actuator, IEEEASME Trans. Mechatron, vol.19, issue.3, pp.954-962, 2014.

F. Giraud, M. Amberg, and B. Lemaire-semail, Design and control of a haptic knob, Sens. Actuators Phys, vol.196, pp.78-85, 2013.
URL : https://hal.archives-ouvertes.fr/hal-00924620

Z. Yao, Z. N. Guo, Y. J. Zhang, Y. Deng, and W. T. Zhang, Research on the Frequency Tracking in Rotary Ultrasonic Machining, Procedia CIRP, vol.6, pp.556-560, 2013.

Y. Kuang, Y. Jin, S. Cochran, and Z. Huang, Resonance tracking and vibration stablilization for high power ultrasonic transducers, Ultrasonics, vol.54, issue.1, pp.187-194, 2014.

W. Ben-messaoud, B. Lemaire-semail, M. Bueno, M. Amberg, and F. Giraud, Closed-Loop Control for Squeeze Film Effect in Tactile Stimulator, presented at the Proceedings of the 2014 international Conference and exhibition on new actuators and drives, pp.245-248, 2014.
URL : https://hal.archives-ouvertes.fr/hal-01018412

C. A. Desoer, The bang bang servo problem treated by variational techniques, Inf. Control, vol.2, issue.4, pp.333-348, 1959.

F. Giraud, B. Semail, and J. Audren, Analysis and phase control of a piezoelectric traveling-wave ultrasonic motor for haptic stick application, IEEE Trans. Ind. Appl, vol.40, issue.6, pp.1541-1549, 2004.

F. Pigache, F. Giraud, and B. Lemaire-semail, Modelling and identification of a planar standing wave ultrasonic motor, Eur. Phys. J.-Appl. Phys, vol.34, issue.01, pp.55-65, 2006.
URL : https://hal.archives-ouvertes.fr/hal-01110740

F. Giraud, C. Giraud-audine, M. Amberg, and B. Lemaire-semail, Vector control method applied to a traveling wave in a finite beam, IEEE Trans. Ultrason. Ferroelectr. Freq. Control, vol.61, issue.1, pp.147-158, 2014.
URL : https://hal.archives-ouvertes.fr/hal-01064859

W. Leonhard, Control of Electrical Drives, 1985.

P. Cossutta, M. P. Aguirre, M. A. Engelhardt, A. Cao, and M. I. Valla, High speed fixed point DSOGI PLL implementation on FPGA for synchronization of grid connected power converters, 2014 IEEE 23rd International Symposium on Industrial Electronics, pp.1372-1377, 2014.

S. B. Backus and A. M. Dollar, Robust Resonant Frequency-Based Contact Detection With Applications in Robotic Reaching and Grasping, IEEEASME Trans. Mechatron, vol.19, issue.5, pp.1552-1561, 2014.

I. Darian-smith, The Sense of Touch: Performance and Peripheral Neural Processes, Comprehensive Physiology, 2011.

F. Giraud, M. Amberg, B. Lemaire-semail, and G. Casiez, Design of a transparent tactile stimulator, 2012 IEEE Haptics Symposium (HAPTICS), pp.485-489, 2012.
URL : https://hal.archives-ouvertes.fr/hal-00670523

F. Giraud, M. Amberg, and B. Lemaire-semail, Merging two tactile stimulation principles: electrovibration and squeeze film effect, World Haptics Conference (WHC), pp.199-203, 2013.
URL : https://hal.archives-ouvertes.fr/hal-00924644

M. Amberg, F. Giraud, B. Semail, P. Olivo, G. Casiez et al., STIMTAC: a tactile input device with programmable friction, Proceedings of the 24th annual ACM symposium adjunct on User interface software and technology, pp.7-8, 2011.
URL : https://hal.archives-ouvertes.fr/inria-00638442

M. Wiertlewski, D. Leonardis, D. J. Meyer, M. A. Peshkin, and J. E. Colgate, A High-Fidelity Surface-Haptic Device for Texture Rendering on Bare Finger, Haptics: Neuroscience, Devices, Modeling, and, pp.241-248, 2014.

C. Lin, Temperature Compensation of Aluminum Nitride Lamb Wave Resonators Utilizing the Lowest-Order Symmetric Mode, 2012.

L. Ljung, System Identification, Signal Analysis and Prediction, pp.163-173, 1998.
URL : https://hal.archives-ouvertes.fr/hal-00854858

W. Ben-messaoud, M. Amberg, B. Lemaire-semail, F. Giraud, and M. Bueno, High fidelity closed loop controlled friction in SMARTTAC tactile stimulator, Accepted at the 17th European Conference on Power Electronics and Applications, 2015.
URL : https://hal.archives-ouvertes.fr/hal-01252057